WO2021251463A1 - Work assist system and work assist method - Google Patents

Work assist system and work assist method Download PDF

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Publication number
WO2021251463A1
WO2021251463A1 PCT/JP2021/022106 JP2021022106W WO2021251463A1 WO 2021251463 A1 WO2021251463 A1 WO 2021251463A1 JP 2021022106 W JP2021022106 W JP 2021022106W WO 2021251463 A1 WO2021251463 A1 WO 2021251463A1
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Prior art keywords
construction
posture information
unit
terminal device
machine
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PCT/JP2021/022106
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French (fr)
Japanese (ja)
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加苗 春山
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日本精機株式会社
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Priority to JP2021573161A priority Critical patent/JP7207575B2/en
Priority to CN202180041309.3A priority patent/CN115698440A/en
Publication of WO2021251463A1 publication Critical patent/WO2021251463A1/en
Priority to JP2022150291A priority patent/JP2022180525A/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the present invention relates to a work support system and a work support method, and can be applied to, for example, a hydraulic excavator.
  • ICT construction machines incorporating a machine guidance function
  • machine guidance is a technology that supports the operation of construction machinery by providing information up to the construction target value to the operator using measurement technology such as total station (TS: Total Station) and GNSS (Global Navigation Satellite System). Is. According to this machine guidance, it is possible to appropriately support the work of the operator and improve work efficiency, safety, and work accuracy.
  • TS Total Station
  • GNSS Global Navigation Satellite System
  • the present invention has been made in consideration of the above points, and is a work support system and work that can easily and flexibly introduce the machine guidance function and further upgrade the machine guidance function as needed.
  • the purpose is to propose a support method.
  • the invention of claim 1 is a work support system that supports the work of an operator by a function of machine guidance.
  • a sensor unit that is held by the moving parts of construction machinery and acquires posture information
  • a control unit that collects the posture information acquired by the sensor unit through data communication with the sensor unit
  • a control unit that collects the posture information acquired by the sensor unit through data communication with the sensor unit
  • a portable information terminal device that calculates the amount of movement up to the construction target from the posture information collected by the control unit, and It is provided with a notification unit for notifying the operator of the construction machine of the amount of movement up to the construction target calculated by the portable information terminal device.
  • the software and hardware used for this arithmetic processing can be easily upgraded.
  • the sensor unit can be attached, replaced, or added as needed.
  • the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
  • the invention of claim 2 is the configuration of claim 1.
  • the control unit collects the posture information by the data communication by wireless communication with the sensor unit.
  • the installation and replacement of the sensor unit can be simplified, thereby easily introducing the machine guidance function to the existing machine tool and further improving the machine guidance function. Can be done.
  • the invention of claim 3 is a work support method for supporting the work of an operator by a function of machine guidance.
  • Attitude information is acquired by the sensor unit held in the moving part of the construction machine, and Based on the posture information, the mobile information terminal device calculates the amount of movement up to the construction target. Notify the operator of the construction machine of the amount of movement up to the calculated construction target.
  • the software and hardware used for this arithmetic processing can be easily upgraded.
  • the sensor unit can be attached, replaced, or added as needed. With these, the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
  • the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
  • FIG. 1 is a diagram showing a work support system 1 according to the first embodiment of the present invention
  • FIG. 2 is a block diagram.
  • the work support system 1 supports the work of the operator who operates the hydraulic excavator 2 by the function of the machine guidance in the hydraulic excavator 2 which is a construction machine.
  • a boom 4, an arm 5, and a bucket 6 are sequentially provided on a main body 3 that self-propells on an endless track.
  • the target of support by the work support system 1 is not limited to hydraulic excavators, and various construction machines used for civil engineering and construction work, such as construction machines used for ground improvement, can be widely applied.
  • the work support system 1 includes sensor units 11A, 11B, 11C, a control unit 12, a portable information terminal device 13, and a notification unit 14.
  • the sensor units 11A, 11B, and 11C are provided on the boom 4, arm 5, and bucket 6, which are movable parts of the hydraulic excavator 2, respectively, and acquire posture information and output it to the control unit 12.
  • the posture information is information that can detect the posture of each movable portion, and in this embodiment, three-dimensional acceleration and angular velocity information is applied.
  • the sensor units 11A, 11B, and 11C are provided with a three-dimensional sensor 21 capable of acquiring the three-dimensional acceleration and angular velocity information, respectively.
  • the battery 22, the controller 23, and the data communication unit 24 are provided, operated by the electric power of the battery 22, the attitude information is acquired by the sensor 21 under the control of the controller 23, and the data communication unit 24 wirelessly communicates with the control unit 12. Send out.
  • the sensor units 11A, 11B, and 11C do not bother to provide cables for power supply and data communication, and are desired mounting locations.
  • the work support system 1 can easily introduce the machine guidance function to the existing machine tool and further improve the machine guidance function.
  • an IMU INERTIAL MEASUREMENT UNIT
  • BLUETOOTH registered trademark
  • various configurations capable of detecting the posture can be widely applied to the sensor 21.
  • the sensor units 11A, 11B, and 11C can be attached to various parts where the posture can be sufficiently detected, and if practically sufficient, they may be attached only to the bucket 6.
  • various configurations capable of data communication can be widely applied.
  • the control unit 12 is provided in the main body of the hydraulic excavator 2, collects posture information acquired by the sensor units 11A, 11B, 11C by data communication with the sensor units 11A, 11B, 11C, and outputs the posture information to the portable information terminal device 13. do.
  • the control unit 12 (FIG. 2) includes a sensor 31 similar to the sensor units 11A, 11B, and 11C, and includes a controller 33 and a data communication unit 34.
  • the control unit 12 activates the operation according to the instruction from the mobile information terminal device 13, and activates the operation of the sensor units 11A, 11B, 11C under the control of the controller 33.
  • the attitude information acquired by the sensor units 11A, 11B, 11C is collected, the attitude information is acquired by the sensor 31, and the attitude information acquired by the sensor units 11A, 11B, 11C is combined with the portable information terminal device via the data communication unit 34. Output to 13. Further, the notification information output from the mobile information terminal device 13 is acquired via the data communication unit 34 and output to the notification unit 14.
  • the control unit 12 may omit the sensor 31 if it is practically sufficient.
  • the mobile information terminal device 13 is a so-called smartphone or tablet terminal, and the posture information by the sensor units 11A, 11B, 11C obtained via the control unit 12 and the sensor 31 by executing the application software related to the work support system 1 From the acquired posture information, the amount of movement up to the construction target of the hydraulic excavator 2 is calculated.
  • the portable information terminal device 13 includes a data communication unit 43 having a data communication function by wireless communication with the control unit 12 and a data communication function with a server on the network.
  • the mobile information terminal device 13 acquires posture information from the control unit 12 by the data communication unit 43, and further outputs the notification information to the notification unit 14 to the control unit 12. Further, the data communication unit 43 downloads application software related to the construction and version upgrade of the work support system 1.
  • the personal digital assistant unit 13 records and holds the application software acquired by the data communication unit 43 in the storage unit 42 using a non-volatile memory or the like. Further, the application software of the work support system 1 held in the storage unit 42 is executed by the operation processing unit 41 by the central processing unit (CPU: Central Processing Unit) or the like by the operation of the operator. As a result, the arithmetic processing unit 41 detects the inclination of the main body 3 based on the posture information acquired in the reference posture (for example, the posture in which the bucket 6 is placed on the ground surface at the start of construction). Further, the change in the posture (movable amount) of each movable portion is calculated from the change in each posture information from this reference posture, and the current position of the bucket 6 is calculated.
  • the reference posture for example, the posture in which the bucket 6 is placed on the ground surface at the start of construction
  • the arithmetic processing unit 41 calculates the current position of the bucket 6 from the posture information in this way, and for example, places the bucket 6 on the ground surface at the start of construction and accepts the setting of the construction start position. Further, the bucket 6 is moved from this construction start position to temporarily excavate to the construction target, and the setting of the construction target is accepted.
  • the construction start position and the construction target may be set by numerical values such as the depth of excavation, and various methods can be widely applied.
  • the arithmetic processing unit 41 sequentially calculates the current position of the bucket 6 from the posture information sequentially input from the control unit 12, and calculates the deviation (difference value) from the construction target to calculate the movable amount up to the construction target. do.
  • the notification unit 14 notifies the operator of the hydraulic excavator 2 of the amount of movement up to the calculated construction target via the control unit 12.
  • the arithmetic processing unit 41 sequentially displays the movable amount calculation result up to the construction target on the display unit 44 by the liquid crystal display panel or the like. In this case, it may be displayed in the same manner as the notification unit 14 described later.
  • the notification unit 14 is configured to notify the operator of the amount of movement up to the construction target calculated by the portable information terminal device 13 in the driver's seat of the hydraulic excavator 2.
  • Consists of a segmented display As shown in FIG. , Consists of a segmented display. That is, the notification unit 14 is formed by sequentially arranging rectangular segments S11 to S16 and S21 to S26 in two rows L1 and L2 at regular intervals in the vertical direction.
  • the central segments S13, S14, S23, and S24 of each row L1 and L2 are formed with a green emission color, and the segments S11, S12, S21, and S22 above the segments S13, S14, S23, and S24 have a yellow emission color.
  • the segments S15, S16, S25, and S26 below the segments S13, S14, S23, and S24 are formed in red.
  • the notification unit 14 lights the central segments S13, S14, S23, and S24 when the amount of movement to the construction target is equal to or less than a certain value. Further, when the movable amount up to the construction target is large and it is necessary to further move the bucket 6, the segments S11 or S12, S21 or S22 are lit according to the movable amount. Further, when the movable amount up to the construction target is a negative value and the bucket 6 is movable beyond the construction target, the segments S15 or S16, S25 or S26 are lit according to the excess amount up to the construction target.
  • the interval between the threshold values for determining the lighting of the segments S11 to S16 and S21 to S26 is smaller in the segments S21 to S26 in the right column L2 than in the segments S11 to S16 in the left column L1.
  • the left column L1 and the right column L2 can be used for tax adjustment and fine adjustment.
  • the notification unit 14 may notify the movable amount by a numerical value, or may notify by a voice or an alarm sound. Further, the notification unit 14 may be directly driven by the mobile information terminal device 13, or the notification unit 14 may also be used by the display unit 44 of the mobile information terminal device 13.
  • the software and hardware used for this arithmetic processing can be easily upgraded. Further, as a result, the sensor units 11A, 11B, and 11C can be attached, and further replaced or added as needed. With these, the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed. Further, the work history can be recorded and saved by using the communication function of the portable information terminal device 13, holding it in the storage unit 42, or the like, which can be utilized for business management or the like. Further, the posture information can be acquired by using the function of the portable information terminal device 13, and the current position information, the illuminance information inside and outside the vehicle, and the like can be acquired and used, and the convenience can be further improved.

Abstract

The present invention makes it possible to introduce a machine guidance function easily and flexibly, and to also upgrade the version of the machine guidance function as needed. A work support system 1 for assisting work of an operator by a machine guidance function comprises: sensor units 11A, 11B, 11C held by movable parts 4, 5, 6 of a construction machine 2 and acquiring posture information of the movable parts 4, 5, 6; a control unit 12 for collecting, through data communication with the sensor units 11A, 11B, 11C, the posture information acquired by the sensor units 11A, 11B, 11C; a portable information terminal device 13 for calculating a movable amount to a construction target using the posture information collected by the control unit 12; and a notification unit 14 for notifying the operator of the construction machine 2 of the movable amount to the construction target calculated by the portable information terminal device 13.

Description

作業支援システム、作業支援方法Work support system, work support method
　本発明は、作業支援システム、作業支援方法に関し、例えば油圧ショベルに適用することができる。 The present invention relates to a work support system and a work support method, and can be applied to, for example, a hydraulic excavator.
　従来、マシンガイダンスの機能を組み込んだ建設機械（いわゆるＩＣＴ建機である）が提供されている。
　ここでマシンガイダンスは、トータルステーション（ＴＳ：Ｔｏｔａｌ　Ｓｔａｔｉｏｎ）、ＧＮＳＳ（Ｇｌｏｂａｌ　Ｎａｖｉｇａｔｉｏｎ　Ｓａｔｅｌｌｉｔｅ　Ｓｙｓｔｅｍ）等の計測技術を利用して、施工目標値までの情報をオペレータに提供して建設機械の操作をサポートする技術である。このマシンガイダンスによれば、オペレータの作業を適切に支援して、作業効率、安全性、作業精度を向上することができる。
　このようなＩＣＴ建機に関して、特許文献１には、建設機械の傾き等を精度良く把握できるようにする工夫が提案されている。 Conventionally, construction machines (so-called ICT construction machines) incorporating a machine guidance function have been provided.
Here, machine guidance is a technology that supports the operation of construction machinery by providing information up to the construction target value to the operator using measurement technology such as total station (TS: Total Station) and GNSS (Global Navigation Satellite System). Is. According to this machine guidance, it is possible to appropriately support the work of the operator and improve work efficiency, safety, and work accuracy.
Regarding such an ICT construction machine, Patent Document 1 proposes a device for accurately grasping the inclination and the like of the construction machine.
特開２０１９－１０５１６０号公報Japanese Unexamined Patent Publication No. 2019-105160
　ところで建設機械にあっては、簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップできることが望まれる。
　しかしながら従来の建設機械においては、簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップすることが困難な問題があった。 By the way, in the case of construction machinery, it is desired to introduce the machine guidance function easily and flexibly, and to upgrade the machine guidance function as needed.
However, in the conventional construction machine, there is a problem that it is difficult to introduce the machine guidance function easily and flexibly and to upgrade the machine guidance function as needed.
　本発明は以上の点を考慮してなされたものであり、簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップすることができる作業支援システム、作業支援方法を提案することを目的とする。 The present invention has been made in consideration of the above points, and is a work support system and work that can easily and flexibly introduce the machine guidance function and further upgrade the machine guidance function as needed. The purpose is to propose a support method.
　係る課題を解決するため、請求項１の発明は、マシンガイダンスの機能によりオペレータの作業を支援する作業支援システムにおいて、
　建設機械の可動部に保持されて姿勢情報を取得するセンサ部と、
　前記センサ部とのデータ通信により前記センサ部で取得した前記姿勢情報を収集する制御部と、
　前記制御部で収集した前記姿勢情報により施工目標までの可動量を算出する携帯情報端末装置と、
　前記携帯情報端末装置で算出した施工目標までの可動量を前記建設機械のオペレータに通知する通知部とを備える。 In order to solve the problem, the invention of claim 1 is a work support system that supports the work of an operator by a function of machine guidance.
A sensor unit that is held by the moving parts of construction machinery and acquires posture information,
A control unit that collects the posture information acquired by the sensor unit through data communication with the sensor unit, and a control unit.
A portable information terminal device that calculates the amount of movement up to the construction target from the posture information collected by the control unit, and
It is provided with a notification unit for notifying the operator of the construction machine of the amount of movement up to the construction target calculated by the portable information terminal device.
　請求項１の構成によれば、施工目標までの可動量を携帯情報端末装置で算出することにより、この演算処理に供するソフトウェア及びハードウェアを簡易にバージョンアップすることができる。またこれにより必要に応じてセンサ部を装着し、さらには交換、追加することもできる。これらにより簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップすることができる。 According to the configuration of claim 1, by calculating the amount of movement up to the construction target with the portable information terminal device, the software and hardware used for this arithmetic processing can be easily upgraded. In addition, the sensor unit can be attached, replaced, or added as needed. With these, the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
　請求項２の発明は、請求項１の構成において、
　前記制御部は、前記センサ部との無線通信による前記データ通信により前記姿勢情報を収集する。 The invention of claim 2 is the configuration of claim 1.
The control unit collects the posture information by the data communication by wireless communication with the sensor unit.
　請求項２の構成によれば、センサ部の設置、交換を簡略化することができ、これにより簡易に既存の工作機械にマシンガイダンスの機能を導入したり、さらにはマシンガイダンスの機能を向上したりすることができる。 According to the configuration of claim 2, the installation and replacement of the sensor unit can be simplified, thereby easily introducing the machine guidance function to the existing machine tool and further improving the machine guidance function. Can be done.
　請求項３の発明は、マシンガイダンスの機能によりオペレータの作業を支援する作業支援方法において、
　建設機械の可動部に保持されたセンサ部により姿勢情報を取得し、
　前記姿勢情報により携帯情報端末装置で施工目標までの可動量を算出し、
　算出した施工目標までの可動量を建設機械のオペレータに通知する。 The invention of claim 3 is a work support method for supporting the work of an operator by a function of machine guidance.
Attitude information is acquired by the sensor unit held in the moving part of the construction machine, and
Based on the posture information, the mobile information terminal device calculates the amount of movement up to the construction target.
Notify the operator of the construction machine of the amount of movement up to the calculated construction target.
　請求項３の構成によれば、施工目標までの可動量を携帯情報端末装置で算出することにより、この演算処理に供するソフトウェア及びハードウェアを簡易にバージョンアップすることができる。またこれにより必要に応じてセンサ部を装着し、さらには交換、追加することもできる。これらにより簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップすることができる。 According to the configuration of claim 3, by calculating the amount of movement up to the construction target with the portable information terminal device, the software and hardware used for this arithmetic processing can be easily upgraded. In addition, the sensor unit can be attached, replaced, or added as needed. With these, the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
　本発明によれば、簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップすることができる。 According to the present invention, the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
本発明の第１実施形態に係る作業支援システムを示す図である。It is a figure which shows the work support system which concerns on 1st Embodiment of this invention. 図１の作業支援システムのブロック図である。It is a block diagram of the work support system of FIG. 通知部を示す平面図である。It is a top view which shows the notification part.
　〔第１実施形態〕
　図１は、本発明の第１実施形態に係る作業支援システム１を示す図であり、図２は、ブロック図である。
　この作業支援システム１は、建設機械である油圧ショベル２において、マシンガイダンスの機能によりこの油圧ショベル２を操作するオペレータの作業を支援する。
　ここで油圧ショベル２は、無限軌道により自走する本体３にブーム４、アーム５、バケット６が順次設けられる。なお作業支援システム１による支援対象は、油圧ショベルに限らず、例えば地盤改良に使用する建設機械等、土木、建築の作業に使用される各種建設機械を広く適用することができる。 [First Embodiment]
FIG. 1 is a diagram showing a work support system 1 according to the first embodiment of the present invention, and FIG. 2 is a block diagram.
The work support system 1 supports the work of the operator who operates the hydraulic excavator 2 by the function of the machine guidance in the hydraulic excavator 2 which is a construction machine.
Here, in the hydraulic excavator 2, a boom 4, an arm 5, and a bucket 6 are sequentially provided on a main body 3 that self-propells on an endless track. The target of support by the work support system 1 is not limited to hydraulic excavators, and various construction machines used for civil engineering and construction work, such as construction machines used for ground improvement, can be widely applied.
　作業支援システム１は、センサ部１１Ａ、１１Ｂ、１１Ｃ、制御部１２、携帯情報端末装置１３、通知部１４を備える。
　ここでセンサ部１１Ａ、１１Ｂ、１１Ｃは、油圧ショベル２の可動部であるブーム４、アーム５、バケット６にそれぞれ設けられ、姿勢情報を取得して制御部１２に出力する。ここで姿勢情報は、各可動部の姿勢を検出可能な情報であり、この実施形態では３次元の加速度、角速度情報が適用される。 The work support system 1 includes sensor units 11A, 11B, 11C, a control unit 12, a portable information terminal device 13, and a notification unit 14.
Here, the sensor units 11A, 11B, and 11C are provided on the boom 4, arm 5, and bucket 6, which are movable parts of the hydraulic excavator 2, respectively, and acquire posture information and output it to the control unit 12. Here, the posture information is information that can detect the posture of each movable portion, and in this embodiment, three-dimensional acceleration and angular velocity information is applied.
　これにより図２に示すように、センサ部１１Ａ、１１Ｂ、１１Ｃは、この３次元の加速度、角速度情報を取得可能な３次元のセンサ２１がそれぞれ設けられる。またバッテリ２２、コントローラ２３、データ通信部２４が設けられ、バッテリ２２の電力により動作して、コントローラ２３の制御によりセンサ２１で姿勢情報を取得し、データ通信部２４により無線通信で制御部１２に送出する。このようにバッテリ２２の電力により動作して無線通信により姿勢情報を送出することにより、センサ部１１Ａ、１１Ｂ、１１Ｃは、電源供給用、データ通信用のケーブルをわざわざ設けることなく、所望する取り付け箇所に簡易に設置することができ、これにより作業支援システム１は、簡易に既存の工作機械にマシンガイダンスの機能を導入したり、さらにはマシンガイダンスの機能を向上したりすることができる。 As a result, as shown in FIG. 2, the sensor units 11A, 11B, and 11C are provided with a three-dimensional sensor 21 capable of acquiring the three-dimensional acceleration and angular velocity information, respectively. Further, the battery 22, the controller 23, and the data communication unit 24 are provided, operated by the electric power of the battery 22, the attitude information is acquired by the sensor 21 under the control of the controller 23, and the data communication unit 24 wirelessly communicates with the control unit 12. Send out. By operating with the power of the battery 22 and transmitting the attitude information by wireless communication in this way, the sensor units 11A, 11B, and 11C do not bother to provide cables for power supply and data communication, and are desired mounting locations. The work support system 1 can easily introduce the machine guidance function to the existing machine tool and further improve the machine guidance function.
　より具体的に、センサ２１には、ＩＭＵ（ＩＮＥＲＴＩＡＬ　ＭＥＡＳＵＲＥＭＥＮＴ　ＵＮＩＴ）センサが適用され、データ通信部２４における無線通信には、ＢＬＵＥＴＯＯＴＨ（登録商標）が適用される。なおセンサ２１には、姿勢を検出可能な種々の構成を広く適用することができる。またセンサ部１１Ａ、１１Ｂ、１１Ｃは、姿勢を十分に検出可能な種々の部位に取り付けることができ、実用上十分な場合には、バケット６にのみ取り付けるようにしてもよい。また無線通信においても、データ通信可能な種々の構成を広く適用することができる。 More specifically, an IMU (INERTIAL MEASUREMENT UNIT) sensor is applied to the sensor 21, and BLUETOOTH (registered trademark) is applied to wireless communication in the data communication unit 24. It should be noted that various configurations capable of detecting the posture can be widely applied to the sensor 21. Further, the sensor units 11A, 11B, and 11C can be attached to various parts where the posture can be sufficiently detected, and if practically sufficient, they may be attached only to the bucket 6. Further, also in wireless communication, various configurations capable of data communication can be widely applied.
　制御部１２は、この油圧ショベル２の本体に設けられ、センサ部１１Ａ、１１Ｂ、１１Ｃとのデータ通信によりセンサ部１１Ａ、１１Ｂ、１１Ｃで取得した姿勢情報を収集して携帯情報端末装置１３に出力する。
　ここで制御部１２（図２）は、センサ部１１Ａ、１１Ｂ、１１Ｃと同様のセンサ３１を備え、コントローラ３３、データ通信部３４を備える。制御部１２は、携帯情報端末装置１３からの指示により動作を立ち上げ、コントローラ３３の制御によりセンサ部１１Ａ、１１Ｂ、１１Ｃの動作を立ち上げる。またセンサ部１１Ａ、１１Ｂ、１１Ｃで取得した姿勢情報を収集し、センサ３１で姿勢情報を取得してセンサ部１１Ａ、１１Ｂ、１１Ｃで取得した姿勢情報と共にデータ通信部３４を介して携帯情報端末装置１３に出力する。またデータ通信部３４を介して携帯情報端末装置１３から出力される通知情報を取得して通知部１４に出力する。
　なお制御部１２は、実用上十分な場合には、センサ３１を省略してもよい。 The control unit 12 is provided in the main body of the hydraulic excavator 2, collects posture information acquired by the sensor units 11A, 11B, 11C by data communication with the sensor units 11A, 11B, 11C, and outputs the posture information to the portable information terminal device 13. do.
Here, the control unit 12 (FIG. 2) includes a sensor 31 similar to the sensor units 11A, 11B, and 11C, and includes a controller 33 and a data communication unit 34. The control unit 12 activates the operation according to the instruction from the mobile information terminal device 13, and activates the operation of the sensor units 11A, 11B, 11C under the control of the controller 33. Further, the attitude information acquired by the sensor units 11A, 11B, 11C is collected, the attitude information is acquired by the sensor 31, and the attitude information acquired by the sensor units 11A, 11B, 11C is combined with the portable information terminal device via the data communication unit 34. Output to 13. Further, the notification information output from the mobile information terminal device 13 is acquired via the data communication unit 34 and output to the notification unit 14.
The control unit 12 may omit the sensor 31 if it is practically sufficient.
　携帯情報端末装置１３は、いわゆるスマートフォンやタブレット端末であり、この作業支援システム１に係るアプリケーションソフトウェアの実行により、制御部１２を介して得られるセンサ部１１Ａ、１１Ｂ、１１Ｃによる姿勢情報、センサ３１で取得される姿勢情報により、油圧ショベル２における施工目標までの可動量を算出する。 The mobile information terminal device 13 is a so-called smartphone or tablet terminal, and the posture information by the sensor units 11A, 11B, 11C obtained via the control unit 12 and the sensor 31 by executing the application software related to the work support system 1 From the acquired posture information, the amount of movement up to the construction target of the hydraulic excavator 2 is calculated.
　より具体的に、携帯情報端末装置１３は、制御部１２との無線通信によるデータ通信機能、ネットワーク上へのサーバとのデータ通信機能を有するデータ通信部４３を備える。携帯情報端末装置１３は、このデータ通信部４３により制御部１２から姿勢情報を取得し、さらには通知部１４への通知情報を制御部１２に出力する。またさらにこのデータ通信部４３により作業支援システム１の構築、バージョンアップに係るアプリケーションソフトウェアをダウンロードする。 More specifically, the portable information terminal device 13 includes a data communication unit 43 having a data communication function by wireless communication with the control unit 12 and a data communication function with a server on the network. The mobile information terminal device 13 acquires posture information from the control unit 12 by the data communication unit 43, and further outputs the notification information to the notification unit 14 to the control unit 12. Further, the data communication unit 43 downloads application software related to the construction and version upgrade of the work support system 1.
　携帯情報端末装置１３は、データ通信部４３で取得したアプリケーションソフトウェアを不揮発メモリ等による記憶部４２に記録して保持する。またオペレータの操作によりこの記憶部４２に保持した作業支援システム１のアプリケーションソフトウェアを中央演算処理装置（ＣＰＵ：Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）等による演算処理部４１で実行する。
　これにより演算処理部４１は、基準姿勢（例えばバケット６を施工開始時の地表に載置した姿勢）で取得される姿勢情報により本体３の傾きを検出する。またこの基準姿勢からの各姿勢情報の変化により各可動部の姿勢の変化（可動量）を算出してバケット６の現在位置を算出する。
　演算処理部４１は、このようにして姿勢情報からバケット６の現在位置を算出するようにして、例えばバケット６を施工開始時の地表に載置して施工開始位置の設定を受け付ける。さらにこの施工開始位置からバケット６を可動して施工目標まで仮掘削し、施工目標の設定を受け付ける。なおこの施工開始位置、施工目標の設定は、例えば掘削の深さ等の数値により受け付けるようにしてもよく、種々の手法を広く適用することができる。
　演算処理部４１は、制御部１２から順次入力される姿勢情報によりバケット６の現在位置を逐次算出し、施工目標からの偏差（差分値）を算出することにより、施工目標までの可動量を算出する。また制御部１２を介して、通知部１４によりこの算出した施工目標までの可動量を油圧ショベル２のオペレータに通知する。
　演算処理部４１は、液晶表示パネル等による表示部４４において、施工目標までの可動量算出結果を逐次表示する。なおこの場合、後述する通知部１４と同様に表示するようにしてもよい。 The personal digital assistant unit 13 records and holds the application software acquired by the data communication unit 43 in the storage unit 42 using a non-volatile memory or the like. Further, the application software of the work support system 1 held in the storage unit 42 is executed by the operation processing unit 41 by the central processing unit (CPU: Central Processing Unit) or the like by the operation of the operator.
As a result, the arithmetic processing unit 41 detects the inclination of the main body 3 based on the posture information acquired in the reference posture (for example, the posture in which the bucket 6 is placed on the ground surface at the start of construction). Further, the change in the posture (movable amount) of each movable portion is calculated from the change in each posture information from this reference posture, and the current position of the bucket 6 is calculated.
The arithmetic processing unit 41 calculates the current position of the bucket 6 from the posture information in this way, and for example, places the bucket 6 on the ground surface at the start of construction and accepts the setting of the construction start position. Further, the bucket 6 is moved from this construction start position to temporarily excavate to the construction target, and the setting of the construction target is accepted. The construction start position and the construction target may be set by numerical values such as the depth of excavation, and various methods can be widely applied.
The arithmetic processing unit 41 sequentially calculates the current position of the bucket 6 from the posture information sequentially input from the control unit 12, and calculates the deviation (difference value) from the construction target to calculate the movable amount up to the construction target. do. Further, the notification unit 14 notifies the operator of the hydraulic excavator 2 of the amount of movement up to the calculated construction target via the control unit 12.
The arithmetic processing unit 41 sequentially displays the movable amount calculation result up to the construction target on the display unit 44 by the liquid crystal display panel or the like. In this case, it may be displayed in the same manner as the notification unit 14 described later.
　ここで通知部１４は、油圧ショベル２の運転席において、携帯情報端末装置１３で算出された施工目標までの可動量をオペレータに通知する構成であり、この実施形態では、図３に示すように、セグメント方式の表示部により構成される。
　すなわち通知部１４は、矩形形状のセグメントＳ１１～Ｓ１６、Ｓ２１～Ｓ２６を２列Ｌ１、Ｌ２により縦方向に順次一定間隔で配置して形成される。各列Ｌ１、Ｌ２の中央のセグメントＳ１３、Ｓ１４、Ｓ２３、Ｓ２４は発光色が緑色により形成され、このセグメントＳ１３、Ｓ１４、Ｓ２３、Ｓ２４より上方のセグメントＳ１１、Ｓ１２、Ｓ２１、Ｓ２２は発光色が黄色により形成され、セグメントＳ１３、Ｓ１４、Ｓ２３、Ｓ２４より下方のセグメントＳ１５、Ｓ１６、Ｓ２５、Ｓ２６は発光色が赤色により形成される。
　通知部１４は、施工目標までの可動量が一定値以下の場合、中央のセグメントＳ１３、Ｓ１４、Ｓ２３、Ｓ２４を点灯する。また施工目標までの可動量が大きく、バケット６をさらに可動することが必要な場合、可動量に応じてセグメントＳ１１又はＳ１２、Ｓ２１又はＳ２２を点灯する。また施工目標までの可動量が負の値であり、施工目標を超えてバケット６が可動している場合、施工目標までの超過量に応じてセグメントＳ１５又はＳ１６、Ｓ２５又はＳ２６を点灯する。
　また通知部１４は、このセグメントＳ１１～Ｓ１６、Ｓ２１～Ｓ２６の点灯を判断するしきい値の間隔が、左列Ｌ１のセグメントＳ１１～Ｓ１６に比して右列Ｌ２のセグメントＳ２１～Ｓ２６で小さくなるように設定され、これにより左列Ｌ１及び右列Ｌ２を租調整、微調整に利用できるように構成される。 Here, the notification unit 14 is configured to notify the operator of the amount of movement up to the construction target calculated by the portable information terminal device 13 in the driver's seat of the hydraulic excavator 2. In this embodiment, as shown in FIG. , Consists of a segmented display.
That is, the notification unit 14 is formed by sequentially arranging rectangular segments S11 to S16 and S21 to S26 in two rows L1 and L2 at regular intervals in the vertical direction. The central segments S13, S14, S23, and S24 of each row L1 and L2 are formed with a green emission color, and the segments S11, S12, S21, and S22 above the segments S13, S14, S23, and S24 have a yellow emission color. The segments S15, S16, S25, and S26 below the segments S13, S14, S23, and S24 are formed in red.
The notification unit 14 lights the central segments S13, S14, S23, and S24 when the amount of movement to the construction target is equal to or less than a certain value. Further, when the movable amount up to the construction target is large and it is necessary to further move the bucket 6, the segments S11 or S12, S21 or S22 are lit according to the movable amount. Further, when the movable amount up to the construction target is a negative value and the bucket 6 is movable beyond the construction target, the segments S15 or S16, S25 or S26 are lit according to the excess amount up to the construction target.
Further, in the notification unit 14, the interval between the threshold values for determining the lighting of the segments S11 to S16 and S21 to S26 is smaller in the segments S21 to S26 in the right column L2 than in the segments S11 to S16 in the left column L1. As a result, the left column L1 and the right column L2 can be used for tax adjustment and fine adjustment.
　なお通知部１４は、数値により可動量を通知するようにしても良く、音声、警報音により通知するようにしてもよい。また携帯情報端末装置１３により直接通知部１４を駆動するようにしてもよく、携帯情報端末装置１３の表示部４４により通知部１４を兼用するようにしてもよい。 The notification unit 14 may notify the movable amount by a numerical value, or may notify by a voice or an alarm sound. Further, the notification unit 14 may be directly driven by the mobile information terminal device 13, or the notification unit 14 may also be used by the display unit 44 of the mobile information terminal device 13.
　以上の構成によれば、施工目標までの可動量を携帯情報端末装置１３で算出することにより、この演算処理に供するソフトウェア及びハードウェアを簡易にバージョンアップすることができる。またこれにより必要に応じてセンサ部１１Ａ、１１Ｂ、１１Ｃを装着し、さらには交換、追加することもできる。これらにより簡易かつ柔軟にマシンガイダンスの機能を導入し、さらには必要に応じてマシンガイダンスの機能をバージョンアップすることができる。
　またさらに携帯情報端末装置１３の通信機能を利用する、記憶部４２に保持する等により作業履歴を記録して保存することもでき、業務管理等に活用することができる。また携帯情報端末装置１３の機能を利用して姿勢情報を取得したり、現在位置情報、車内外の照度情報等を取得して利用することもでき、一段と利便性を向上することができる。 According to the above configuration, by calculating the amount of movement up to the construction target by the portable information terminal device 13, the software and hardware used for this arithmetic processing can be easily upgraded. Further, as a result, the sensor units 11A, 11B, and 11C can be attached, and further replaced or added as needed. With these, the machine guidance function can be introduced easily and flexibly, and the machine guidance function can be upgraded as needed.
Further, the work history can be recorded and saved by using the communication function of the portable information terminal device 13, holding it in the storage unit 42, or the like, which can be utilized for business management or the like. Further, the posture information can be acquired by using the function of the portable information terminal device 13, and the current position information, the illuminance information inside and outside the vehicle, and the like can be acquired and used, and the convenience can be further improved.
　またセンサ部との無線通信によるデータ通信により姿勢情報を収集することにより、センサ部の設置、交換を簡略化することができ、これにより簡易に既存の工作機械にマシンガイダンスの機能を導入したり、さらにはマシンガイダンスの機能を向上したりすることができる。 In addition, by collecting attitude information by wireless communication with the sensor unit, it is possible to simplify the installation and replacement of the sensor unit, which makes it easy to introduce the machine guidance function to existing machine tools. In addition, the function of machine guidance can be improved.
　〔他の実施形態〕
　以上、本発明の実施に好適な具体的な構成を詳述したが、本発明は、本発明の趣旨を逸脱しない範囲で、上述の実施形態の構成を種々に変更することができる。 [Other embodiments]
Although the specific configuration suitable for carrying out the present invention has been described in detail above, the present invention can be variously modified with respect to the configuration of the above-described embodiment without departing from the spirit of the present invention.
　１　作業支援システム
　２　油圧ショベル
　３　本体
　４　ブーム
　５　アーム
　６　バケット
　１１Ａ、１１Ｂ、１１Ｃ　センサ部
　１２　制御部
　１３　携帯情報端末装置
　１４　通知部
　２１、３１　センサ
　２２　バッテリ
　２３、３３　コントローラ
　２４、３４、４３　データ通信部
　４１　演算処理部
　４２　記憶部
　４４　表示部
　Ｓ１１～Ｓ１６、Ｓ２１～Ｓ２６　セグメント 1 Work support system 2 Excavator 3 Main body 4 Boom 5 Arm 6 Bucket 11A, 11B, 11C Sensor unit 12 Control unit 13 Mobile information terminal device 14 Notification unit 21, 31 Sensor 22 Battery 23, 33 Controller 24, 34, 43 Data communication Unit 41 Arithmetic processing unit 42 Storage unit 44 Display unit S11 to S16, S21 to S26 segment

Claims (3)

  1. 　マシンガイダンスの機能によりオペレータの作業を支援する作業支援システムにおいて、
    　建設機械の可動部に保持されて前記可動部の姿勢情報を取得するセンサ部と、
    　前記センサ部とのデータ通信により前記センサ部で取得した前記姿勢情報を収集する制御部と、
    　前記制御部で収集した前記姿勢情報により施工目標までの可動量を算出する携帯情報端末装置と、
    　前記携帯情報端末装置で算出した施工目標までの可動量を前記建設機械のオペレータに通知する通知部とを備える
    　作業支援システム。     In a work support system that supports the work of operators by using the machine guidance function
    A sensor unit that is held by a movable part of a construction machine and acquires posture information of the movable part,
    A control unit that collects the posture information acquired by the sensor unit through data communication with the sensor unit, and a control unit.
    A portable information terminal device that calculates the amount of movement up to the construction target from the posture information collected by the control unit, and
    A work support system including a notification unit that notifies the operator of the construction machine of the amount of movement up to the construction target calculated by the portable information terminal device.
  2. 　前記制御部は、前記センサ部との無線通信による前記データ通信により前記姿勢情報を収集する
    　請求項１に記載の作業支援システム。     The work support system according to claim 1, wherein the control unit collects the posture information by the data communication by wireless communication with the sensor unit.
  3. 　マシンガイダンスの機能によりオペレータの作業を支援する作業支援方法において、
    　建設機械の可動部に保持されたセンサ部により前記可動部の姿勢情報を取得し、
    　前記姿勢情報により携帯情報端末装置で施工目標までの可動量を算出し、
    　算出した施工目標までの可動量を建設機械のオペレータに通知する
    　作業支援システム。     In the work support method that supports the work of the operator by the function of machine guidance,
    The posture information of the movable part is acquired by the sensor part held by the movable part of the construction machine, and the posture information of the movable part is acquired.
    Based on the posture information, the mobile information terminal device calculates the amount of movement up to the construction target.
    A work support system that notifies the operator of construction machinery of the amount of movement up to the calculated construction target.
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